354-0512/01 – Drives of Robots (PoRo)

Gurantor department	Department of Robotics	Credits	4
Subject guarantor	prof. Dr. Ing. Petr Novák	Subject version guarantor	prof. Dr. Ing. Petr Novák
Study level	undergraduate or graduate	Requirement	Compulsory
Year	2	Semester	summer
		Study language	Czech
Year of introduction	2004/2005	Year of cancellation	2009/2010
Intended for the faculties	FS	Intended for study types	Master

Instruction secured by
Login	Name	Tuitor	Teacher giving lectures
MOS50	prof. Dr. Ing. Vladimír Mostýn
NOV20	prof. Dr. Ing. Petr Novák

Extent of instruction for forms of study
Form of study	Way of compl.	Extent
Full-time	Credit and Examination	3+3
Part-time	Credit and Examination	12+4

Subject aims expressed by acquired skills and competences

Analysis of the specialyties drives in Robotics, Define a request on drive, Drive design, Experiments with drives.

Teaching methods

Lectures
Tutorials
Experimental work in labs

Summary

Driving robot subsystem and its links on mechanical and control subsystems, dividing electrics drives, basic conceptions, steping motors, control of multiaxex systems, position and speed control, AC and DC motors and their control, torque control,

Compulsory literature:

[1] KENJO Takanashi, Stepping motors and their microprocessor controls. Oxford 1985, 239 s., ISBN- 0-19-859339-2 [2] EDWIN,W.: Applied Robotics. PROMPT Publications by Howard W.Sams. 312 pp.,1999. USA. ISBN 0?7906?1184-8 [3] Neil Sclater, Nicholas Chironis. Mechanisms and Mechanical Devices Sourcebook, McGraw-Hill Education; 5 edition, 560 pp., August 12, 2011, ISBN-13: 978-0071704427

Recommended literature:

[2] U.A.Bakshi, M.V.Bakshi: Electrical Drives And Control Braun Jan: Maxon Academy- Formulae Handbook

Way of continuous check of knowledge in the course of semester

E-learning

Other requirements

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

Týden Náplň přednášky a cvičení 1. Úvod do problematiky, krokové motory, vlastnosti, druhy, rozdělení- rotační a lineární, základní charakteristiky. 2. Způsoby buzení fází – napěťové, proudové, spínané. 4 a 8-taktní řízení, mikrokrokování, řízení v oblastech start-stop a kontrolovaného zrychlení momentové charakteristiky, mikrokrokování. 3. Řízení pohonů s KM pomocí PLC a PC, specializované autonomní řídicí karty, popis karty PCL-839. 4. Stejnosměrný motor, základní vztahy a charakteristiky, 1,2 a 4Q budiče, použití 5. Senzory pro rychlostní a polohové řízení, napojení senzorů do řídicího systému, zpracování informací senzorů, typická zapojení rychlostní a polohové (jednoosé) servosmyčky. Simulace. 6. Synchronní motor, vlastnosti, charakteristiky 7. Měnič synchronního pohonu, nastavení parametrů 8. Asynchronní motor, vlastnosti, charakteristiky 9. Měnič asynchronního pohonu, způsoby řízení, programování 10. Zápočet.

Conditions for subject completion

Part-time form (validity from: 1960/1961 Summer semester)

Task name	Type of task	Max. number of points (act. for subtasks)	Min. number of points	Max. počet pokusů
Exercises evaluation and Examination	Credit and Examination	100 (100)	51	3
Exercises evaluation	Credit	35 (35)	0	3
Project	Project	25	0	3
Written exam	Written test	10	0	3
Examination	Examination	65 (65)	0	3
Written examination	Written examination	35	0	3
Oral	Oral examination	30	0	3

Mandatory attendence participation:

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Conditions for subject completion and attendance at the exercises within ISP:

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Occurrence in study plans

Academic year	Programme	Branch/spec.	Form	Study language	Tut. centre	Year	Type of duty
2005/2006	(N2301) Mechanical Engineering	(2301T032) Production Systems with Industrial Robots and Manipulators	P	Czech	Ostrava	2	Compulsory	study plan
2005/2006	(N2301) Mechanical Engineering	(2301T032) Production Systems with Industrial Robots and Manipulators	K	Czech	Ostrava	2	Compulsory	study plan
2004/2005	(N2301) Mechanical Engineering	(2301T032) Production Systems with Industrial Robots and Manipulators	P	Czech	Ostrava	2	Compulsory	study plan
2004/2005	(N2301) Mechanical Engineering	(2301T032) Production Systems with Industrial Robots and Manipulators	K	Czech	Ostrava	2	Compulsory	study plan

Occurrence in special blocks

Block name	Academic year	Form of study	Study language	Year	W	S	Type of block	Block owner

Assessment of instruction

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